//大舵机2.5%-12.5%满占空比调节 270度左右 PWM设置25-125
//一般舵机7%为中间值，4.5%-10%左右范围
void stepperMoterInit()
{
TIM5_Init();//左边的电机前四个
TIM8_Init();//用于手爪的吸力电机
TIM4_Init();//右边的电机前四个
TIM1_Init();
}
void System_init(void)
{
//系统时钟初始化 内部16M
System_Clock_init();
//串口初始化 9600
UART1_Init();
//串口发送函数绑定
HekrInit(UART1_SendChar);
//16M主频延迟初始化
delay_init(16);
//通过上电次数选择模式 必须先初始化延迟 串口
Bright_ModeInit();
//PWM 初始化
TIM2_Init();
//亮度调整定时器
TIM1_Init();
_asm("rim");
}
void main()
{
u16 tmp;
u8 tmp8, tmp8_A;
static tCANMsg RxMsgBuff;
CLK_Init(CLK_HSE);
disableInterrupts();
GPIO_Init();
TIM4_Init();
// TIM2_Init();
TIM1_Init();
ADC_Init();
/* Configure CAN - Interface */
CAN_Init(); // init CAN - interface
enableInterrupts();
CAN_Start();
CAN_TxMsg1.Length = 4;
CAN_TxMsg1.Xtd = false;
CAN_TxMsg1.rtr = false;
CAN_TxMsg1.ID = 0x280;
CAN_TxMsg1.Data[0] =0 ;
CAN_TxMsg1.Data[1] =0;
//PWM_SetFrequency(1);
do {
if ( IsCAN_MSG1_Send()) {
tmp = ADC_GetValue(ADC_REV_CHANEL);
tmp = tmp *24;
if ( tmp < 100 ) {
OIL_PRESS = false;
} else {
OIL_PRESS = true;
}
CAN_TxMsg1.Data[3] =(u8)(tmp >> 8) ;
CAN_TxMsg1.Data[2] =(u8)(tmp & 0x00FF);
CAN_Write(&CAN_TxMsg1);
}
if ( IsSpeedAdjustTime()) {
tmp = ADC_GetValue(ADC_SPEED_CHANEL);
tmp = tmp * 10;
tmp = tmp/ 34;
PWM_SetFrequency(tmp);
// 1023 = 300 Hz
}
/* if( CAN_GetMsg(&RxMsgBuff)== RET_OK){
if (RxMsgBuff.Xtd ){ // EID
tmp8 = (u8)(RxMsgBuff.timeStamp >>3) & 0xE0U;
if (RxMsgBuff.rtr) tmp8 |= 0x10;
tmp8 |= (RxMsgBuff.Length & 0x0F);
tmp8_A = (RxMsgBuff.ID>>24) & 0x001f;
tmp8_A |= (RxMsgBuff.FilterID << 5);
USART_SendBytesMessage (CAN_MSG_EXT_1, tmp8,(u8)((RxMsgBuff.timeStamp) & 0x00FF), tmp8_A ,(RxMsgBuff.ID>>16) & 0x00ffU);
USART_SendBytesMessage (CAN_MSG_EXT_2, (RxMsgBuff.ID>>8) & 0x00ffU,RxMsgBuff.ID & 0x00ffU,RxMsgBuff.Data[0], RxMsgBuff.Data[1] );
if (RxMsgBuff.Length > 2)
USART_SendBytesMessage (CAN_MSG_EXT_3, RxMsgBuff.Data[2], RxMsgBuff.Data[3], RxMsgBuff.Data[4], RxMsgBuff.Data[5]);
if (RxMsgBuff.Length > 6 )
USART_SendBytesMessage (CAN_MSG_EXT_4, RxMsgBuff.Data[6], RxMsgBuff.Data[7],0,0);
}else{ // standard ID
tmp8 = (u8)(RxMsgBuff.timeStamp >>3) & 0xE0U;
if (RxMsgBuff.rtr) tmp8 |= 0x10;
tmp8 |= (RxMsgBuff.Length & 0x0F);
tmp8_A = (RxMsgBuff.ID>>8) & 0x007f;
tmp8_A |= (RxMsgBuff.FilterID << 3);
USART_SendBytesMessage (CAN_MSG_STD_1, tmp8,(u8)((RxMsgBuff.timeStamp) & 0x00FF), tmp8_A ,RxMsgBuff.ID & 0x00ff);
if (RxMsgBuff.Length > 0)
USART_SendBytesMessage (CAN_MSG_STD_2, RxMsgBuff.Data[0], RxMsgBuff.Data[1], RxMsgBuff.Data[2], RxMsgBuff.Data[3]);
if (RxMsgBuff.Length > 4 )
USART_SendBytesMessage (CAN_MSG_STD_3, RxMsgBuff.Data[4], RxMsgBuff.Data[5], RxMsgBuff.Data[6], RxMsgBuff.Data[7]);
}
}*/
/** LED Flashing **/
if (GetLedState()) {
LED_ON;
} else {
LED_OFF;
}
} while (1);
}
